Andrew,
It's been a journey, but I've finally got Gazebo installed in Mac OS X
10.3. I've chronicled the instructions for doing so below. Feel free to
modify as appropriate and add them to the appendices in the Gazebo user
manual.
Thanks for the support!
-Lars
=== Building Gazebo on Mac OS X 10.3 ===
Gazebo has been successfully installed on Mac OS 10.3 using the following
steps. It is quite possible that these steps can be streamlined by using
Fink and/or newer versions of dependencies. If you find this to be true,
please notify the authors.
# Install Apple's X11 and X11 developer packages. X11 can be downloaded
at http://www.apple.com/macosx/features/x11/download/ and the X11 SDK can
be installed from the XCode Tools CD that comes with OS X.
# Install Fink; this can be obtained from http://fink.sourceforge.net/.
# Enable unstable packages in Fink (instructions are in the answer to Q5.8
of the Fink FAQ at http://fink.sourceforge.net/faq/usage-fink.php).
# Run <tt>fink install libxml libxml2</tt> (I'm not sure if both are
needed, though).
# Follow the directions in gazebo-src-0.4.0/README for installing
OpenSceneGraph and its dependencies, except for the following:
## You will need to get a nightly CVS snapshot of OpenThreads from
http://openthreads.sourceforge.net/ and build it as the one in the tarball
given will not compile in Panther.
## In Producer-0.8.4-2/src/RenderSurface_X11.cpp the function
glXGetProcAddressARB (at the top of the file) needs to be declared, so you
will need to comment out the #ifdef- and #endif-lines to get around this,
otherwise you will get errors (see
http://dburns.dhs.org/pipermail/osg-user/2003-November/000922.html).
# Compile and install OPCODE as instructed in gazebo-src-0.4.0/README.
Note that the ode-0.039 requires a patch to Opcode.h in order to compile,
so you will have to add two lines to this file as described in
http://q12.org/pipermail/ode/2004-April/012433.html.
# Compile and install the Open Dynamics Engine, which can be found at
http://ode.org/. Version 0.039 is required according to the release notes
for Gazebo. Instructions for installing ODE are in the tarball, and in
the gazebo-src-0.4.0/README. If you have trouble with <tt>make
configure</tt> you may want to consult
http://q12.org/cgi-bin/wiki.pl?MacInstall
# Run <tt>sudo ranlib -s libode.a libopcode.a</tt> on the manually
installed libraries from the above two steps.
# Download, compile and install GDAL from
http://dl.maptools.org/gdal/gdal-1.2.0.tar.gz per the instructions at
gazebo-src-0.4.0/README.
# Run ./configure in gazebo-src-0.4.0. If there are no errors, run make
and make install.
On Fri, 11 Jun 2004, ahoward wrote:
>
> Thanks Lars, I've addressed some of your comments below; hopefully we can
> expand this thread into a more complete OS X HOWTO (to replace the one
> found here:
>
> http://playerstage.sourceforge.net/doc/Gazebo-manual-0.4.0-html/node14.html#SECTION03510000000000000000
>
>
> On Thu, 10 Jun 2004, Lars Cremean wrote:
>
> > I'm a new user of Gazebo and I'm trying to install release 0.4.0 on
> > Mac OS X 10.3.4. I've run into a couple of issues I thought you
> > should know about (see below).
> >
> > =========================================================
> >
> > The following notes are gazebo-src-0.4.0.tar.gz release...
> > trying to install on Mac OS X 10.3.4.
> >
> > 1. I Could not find the utility script indicated by the release notes:
> > "A utility script called depMerge is included in the distribution".
> > Not sure it would help given the trouble below.
>
> Wouldnt help with OS X, but I will check to make sure depMerge got
> included in the distrio tarball.
>
> > 2. The manual at
> > http://playerstage.sourceforge.net/doc/Gazebo-manual-0.4.0-html/node4.html
> > indicates that Fink has the OpenDynamicsEngine package, but I was
> > unable to find it.
>
> Ahh, it is probably in the "unstable" tree (I forget how to make fink
> install packages from this tree, but the answer will be on the fink
> website somewhere).
>
> > 3. Had trouble with independent source build attempt of ode-0.039,
> > indicated in note at end of http://q12.org/cgi-bin/wiki.pl?MacInstall
>
> That has been my experience also; hence my use of the fink unstable
> package.
>
> > Note: I *was* successfully able to compile and install ode-0.5.
>
> This is a good sign. Unfortunately, however, Gazebo-0.4.0 has never been
> tested with ODE-0.5, so we have no idea if they are compatible or not (the
> timing of the two releases was unfortunate, and caught us off guard).
>
> > 4. The release notes at
> > http://sourceforge.net/project/shownotes.php?release_id=242744 indicate that
> > GDAL version 1.1.9 or above is required, but the latest available release from
> > Fink is 1.1.8-22. I *was* able to install this without a hitch; hopefully it'll
> > work.(??)
>
> Yes, it does work, but will segfault on certain image formats (this has
> been my experience anyway). Converting images to a different format is
> the workaround.
>
> > 5. Had trouble with independent source install attempt of gdal-1.2.0 (whose
> > installation instructions claim platform independence), with the
> > following error at the end
>
> Try building gdal without the Python bindings; you dont need them.
>
> > 6. Release notes at the following URL are hard to parse as the HTML doesn't
> > render (in at least a couple browsers)
>
> $%^&&**@! SourceForge is broken.
>
> > 7. Release notes indicate "see the manual for OS X specific build instructions",
> > but I couldn't find any. Which section number?
>
> Appendix A.1 (see link above).
>
> > 8. I can't seem to get the configure script for Gazebo to recognize that I have
> > glut installed:
> > checking GL/gl.h usability... no
> > checking GL/gl.h presence... no
> > checking for GL/gl.h... no
> > configure: error: Could not find (one of) gl.h glu.h glut.h; OpenGL is required
>
> I suspect there are two problems here:
>
> 1) It looks like GL is not installed: did you download the X11 package
> from the Apple developer website?
>
> 2) GLUT is installed (as a fink package) but cannnot be found. Make sure
> your paths are set correctly for fink stuff; e.g.:
>
> export CPATH=/usr/X11R6/include:/sw/include::$CPATH
> export LIBRARY_PATH=/sw/lib:$LIBRARY_PATH
>
> Please let me know how it goes.
>
> A.
>
>
> Andrew Howard email: ahoward@...
> Department of Computer Science http: www-robotics.usc.edu/~ahoward
> University of Southern California phone: 1 (213) 740 6416
> Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
> << Insert pithy saying here >>>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> -------------------------------------------------------
> This SF.Net email is sponsored by the new InstallShield X.
> >From Windows to Linux, servers to mobile, InstallShield X is the
> one installation-authoring solution that does it all. Learn more and
> evaluate today! http://www.installshield.com/Dev2Dev/0504
> _______________________________________________
> Playerstage-gazebo mailing list
> Playerstage-gazebo@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

Thread view

Thanks Lars, I've addressed some of your comments below; hopefully we can
expand this thread into a more complete OS X HOWTO (to replace the one
found here:
http://playerstage.sourceforge.net/doc/Gazebo-manual-0.4.0-html/node14.html#SECTION03510000000000000000
On Thu, 10 Jun 2004, Lars Cremean wrote:
> I'm a new user of Gazebo and I'm trying to install release 0.4.0 on
> Mac OS X 10.3.4. I've run into a couple of issues I thought you
> should know about (see below).
>
> =========================================================
>
> The following notes are gazebo-src-0.4.0.tar.gz release...
> trying to install on Mac OS X 10.3.4.
>
> 1. I Could not find the utility script indicated by the release notes:
> "A utility script called depMerge is included in the distribution".
> Not sure it would help given the trouble below.
Wouldnt help with OS X, but I will check to make sure depMerge got
included in the distrio tarball.
> 2. The manual at
> http://playerstage.sourceforge.net/doc/Gazebo-manual-0.4.0-html/node4.html
> indicates that Fink has the OpenDynamicsEngine package, but I was
> unable to find it.
Ahh, it is probably in the "unstable" tree (I forget how to make fink
install packages from this tree, but the answer will be on the fink
website somewhere).
> 3. Had trouble with independent source build attempt of ode-0.039,
> indicated in note at end of http://q12.org/cgi-bin/wiki.pl?MacInstall
That has been my experience also; hence my use of the fink unstable
package.
> Note: I *was* successfully able to compile and install ode-0.5.
This is a good sign. Unfortunately, however, Gazebo-0.4.0 has never been
tested with ODE-0.5, so we have no idea if they are compatible or not (the
timing of the two releases was unfortunate, and caught us off guard).
> 4. The release notes at
> http://sourceforge.net/project/shownotes.php?release_id=242744 indicate that
> GDAL version 1.1.9 or above is required, but the latest available release from
> Fink is 1.1.8-22. I *was* able to install this without a hitch; hopefully it'll
> work.(??)
Yes, it does work, but will segfault on certain image formats (this has
been my experience anyway). Converting images to a different format is
the workaround.
> 5. Had trouble with independent source install attempt of gdal-1.2.0 (whose
> installation instructions claim platform independence), with the
> following error at the end
Try building gdal without the Python bindings; you dont need them.
> 6. Release notes at the following URL are hard to parse as the HTML doesn't
> render (in at least a couple browsers)
$%^&&**@! SourceForge is broken.
> 7. Release notes indicate "see the manual for OS X specific build instructions",
> but I couldn't find any. Which section number?
Appendix A.1 (see link above).
> 8. I can't seem to get the configure script for Gazebo to recognize that I have
> glut installed:
> checking GL/gl.h usability... no
> checking GL/gl.h presence... no
> checking for GL/gl.h... no
> configure: error: Could not find (one of) gl.h glu.h glut.h; OpenGL is required
I suspect there are two problems here:
1) It looks like GL is not installed: did you download the X11 package
from the Apple developer website?
2) GLUT is installed (as a fink package) but cannnot be found. Make sure
your paths are set correctly for fink stuff; e.g.:
export CPATH=/usr/X11R6/include:/sw/include::$CPATH
export LIBRARY_PATH=/sw/lib:$LIBRARY_PATH
Please let me know how it goes.
A.
Andrew Howard email: ahoward@...
Department of Computer Science http: www-robotics.usc.edu/~ahoward
University of Southern California phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
<< Insert pithy saying here >>>

Hi all,
ahoward wrote:
> Thanks Lars, I've addressed some of your comments below; hopefully we can
> expand this thread into a more complete OS X HOWTO (to replace the one
> found here:
>
> http://playerstage.sourceforge.net/doc/Gazebo-manual-0.4.0-html/node14.html#SECTION03510000000000000000
>
I'm starting to develop more complete instructions for installing Gazebo
in Mac OS X, but have run into another snag. Here's what I have so far:
=== Building Gazebo 0.4.0 on Mac OS X 10.3 ===
# Install Apple's X11 and X11 developer packages. X11 can be downloaded
at http://www.apple.com/macosx/features/x11/download/ and the X11 SDK
can be installed from the XCode Tools CD that comes with OS X.
# Install Fink; this can be obtained from http://fink.sourceforge.net/.
# Enable unstable packages in Fink (instructions are in the answer to
Q5.8 of the Fink FAQ at http://fink.sourceforge.net/faq/usage-fink.php).
# Run <tt>fink install gdal</tt> and <tt>fink install gdal-dev</tt>.
GDAL version 1.1.9 or above is recommended, but the latest available
release from Fink is 1.1.8-22 at the time of this writing. This will
segfault on certain image formats; but this can be avoided by converting
to a different format.
# Install the Open Dynamics Engine, which can be found at
http://ode.org/. Version 0.039 is required according to the release
notes for Gazebo. Instructions for installing ODE are in the tarball.
This is where I get stuck...
Notes:
* I still can't find the OpenDynamicsEngine package in Fink, even in the
unstable branch:
lars@...$ fink info ode
Information about 3179 packages read in 3 seconds.
Failed: no package found for specification 'ode'!
This leaves me with the same problems I had earlier...
>>2. The manual at
>>http://playerstage.sourceforge.net/doc/Gazebo-manual-0.4.0-html/node4.html
>>indicates that Fink has the OpenDynamicsEngine package, but I was
>>unable to find it.
>
>
> Ahh, it is probably in the "unstable" tree (I forget how to make fink
> install packages from this tree, but the answer will be on the fink
> website somewhere).
>
>
>>3. Had trouble with independent source build attempt of ode-0.039,
>>indicated in note at end of http://q12.org/cgi-bin/wiki.pl?MacInstall
>
>
> That has been my experience also; hence my use of the fink unstable
> package.
>
Any insight? I followed the instructions at the link given in step 3
above for enabling unstable packages. Am I looking in the wrong place
in Fink? Has anyone else had success in installing Gazebo (and
therefore ODE) on Mac OS 10.3?
Thanks,
Lars

Andrew,
It's been a journey, but I've finally got Gazebo installed in Mac OS X
10.3. I've chronicled the instructions for doing so below. Feel free to
modify as appropriate and add them to the appendices in the Gazebo user
manual.
Thanks for the support!
-Lars
=== Building Gazebo on Mac OS X 10.3 ===
Gazebo has been successfully installed on Mac OS 10.3 using the following
steps. It is quite possible that these steps can be streamlined by using
Fink and/or newer versions of dependencies. If you find this to be true,
please notify the authors.
# Install Apple's X11 and X11 developer packages. X11 can be downloaded
at http://www.apple.com/macosx/features/x11/download/ and the X11 SDK can
be installed from the XCode Tools CD that comes with OS X.
# Install Fink; this can be obtained from http://fink.sourceforge.net/.
# Enable unstable packages in Fink (instructions are in the answer to Q5.8
of the Fink FAQ at http://fink.sourceforge.net/faq/usage-fink.php).
# Run <tt>fink install libxml libxml2</tt> (I'm not sure if both are
needed, though).
# Follow the directions in gazebo-src-0.4.0/README for installing
OpenSceneGraph and its dependencies, except for the following:
## You will need to get a nightly CVS snapshot of OpenThreads from
http://openthreads.sourceforge.net/ and build it as the one in the tarball
given will not compile in Panther.
## In Producer-0.8.4-2/src/RenderSurface_X11.cpp the function
glXGetProcAddressARB (at the top of the file) needs to be declared, so you
will need to comment out the #ifdef- and #endif-lines to get around this,
otherwise you will get errors (see
http://dburns.dhs.org/pipermail/osg-user/2003-November/000922.html).
# Compile and install OPCODE as instructed in gazebo-src-0.4.0/README.
Note that the ode-0.039 requires a patch to Opcode.h in order to compile,
so you will have to add two lines to this file as described in
http://q12.org/pipermail/ode/2004-April/012433.html.
# Compile and install the Open Dynamics Engine, which can be found at
http://ode.org/. Version 0.039 is required according to the release notes
for Gazebo. Instructions for installing ODE are in the tarball, and in
the gazebo-src-0.4.0/README. If you have trouble with <tt>make
configure</tt> you may want to consult
http://q12.org/cgi-bin/wiki.pl?MacInstall
# Run <tt>sudo ranlib -s libode.a libopcode.a</tt> on the manually
installed libraries from the above two steps.
# Download, compile and install GDAL from
http://dl.maptools.org/gdal/gdal-1.2.0.tar.gz per the instructions at
gazebo-src-0.4.0/README.
# Run ./configure in gazebo-src-0.4.0. If there are no errors, run make
and make install.
On Fri, 11 Jun 2004, ahoward wrote:
>
> Thanks Lars, I've addressed some of your comments below; hopefully we can
> expand this thread into a more complete OS X HOWTO (to replace the one
> found here:
>
> http://playerstage.sourceforge.net/doc/Gazebo-manual-0.4.0-html/node14.html#SECTION03510000000000000000
>
>
> On Thu, 10 Jun 2004, Lars Cremean wrote:
>
> > I'm a new user of Gazebo and I'm trying to install release 0.4.0 on
> > Mac OS X 10.3.4. I've run into a couple of issues I thought you
> > should know about (see below).
> >
> > =========================================================
> >
> > The following notes are gazebo-src-0.4.0.tar.gz release...
> > trying to install on Mac OS X 10.3.4.
> >
> > 1. I Could not find the utility script indicated by the release notes:
> > "A utility script called depMerge is included in the distribution".
> > Not sure it would help given the trouble below.
>
> Wouldnt help with OS X, but I will check to make sure depMerge got
> included in the distrio tarball.
>
> > 2. The manual at
> > http://playerstage.sourceforge.net/doc/Gazebo-manual-0.4.0-html/node4.html
> > indicates that Fink has the OpenDynamicsEngine package, but I was
> > unable to find it.
>
> Ahh, it is probably in the "unstable" tree (I forget how to make fink
> install packages from this tree, but the answer will be on the fink
> website somewhere).
>
> > 3. Had trouble with independent source build attempt of ode-0.039,
> > indicated in note at end of http://q12.org/cgi-bin/wiki.pl?MacInstall
>
> That has been my experience also; hence my use of the fink unstable
> package.
>
> > Note: I *was* successfully able to compile and install ode-0.5.
>
> This is a good sign. Unfortunately, however, Gazebo-0.4.0 has never been
> tested with ODE-0.5, so we have no idea if they are compatible or not (the
> timing of the two releases was unfortunate, and caught us off guard).
>
> > 4. The release notes at
> > http://sourceforge.net/project/shownotes.php?release_id=242744 indicate that
> > GDAL version 1.1.9 or above is required, but the latest available release from
> > Fink is 1.1.8-22. I *was* able to install this without a hitch; hopefully it'll
> > work.(??)
>
> Yes, it does work, but will segfault on certain image formats (this has
> been my experience anyway). Converting images to a different format is
> the workaround.
>
> > 5. Had trouble with independent source install attempt of gdal-1.2.0 (whose
> > installation instructions claim platform independence), with the
> > following error at the end
>
> Try building gdal without the Python bindings; you dont need them.
>
> > 6. Release notes at the following URL are hard to parse as the HTML doesn't
> > render (in at least a couple browsers)
>
> $%^&&**@! SourceForge is broken.
>
> > 7. Release notes indicate "see the manual for OS X specific build instructions",
> > but I couldn't find any. Which section number?
>
> Appendix A.1 (see link above).
>
> > 8. I can't seem to get the configure script for Gazebo to recognize that I have
> > glut installed:
> > checking GL/gl.h usability... no
> > checking GL/gl.h presence... no
> > checking for GL/gl.h... no
> > configure: error: Could not find (one of) gl.h glu.h glut.h; OpenGL is required
>
> I suspect there are two problems here:
>
> 1) It looks like GL is not installed: did you download the X11 package
> from the Apple developer website?
>
> 2) GLUT is installed (as a fink package) but cannnot be found. Make sure
> your paths are set correctly for fink stuff; e.g.:
>
> export CPATH=/usr/X11R6/include:/sw/include::$CPATH
> export LIBRARY_PATH=/sw/lib:$LIBRARY_PATH
>
> Please let me know how it goes.
>
> A.
>
>
> Andrew Howard email: ahoward@...
> Department of Computer Science http: www-robotics.usc.edu/~ahoward
> University of Southern California phone: 1 (213) 740 6416
> Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
> << Insert pithy saying here >>>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> -------------------------------------------------------
> This SF.Net email is sponsored by the new InstallShield X.
> >From Windows to Linux, servers to mobile, InstallShield X is the
> one installation-authoring solution that does it all. Learn more and
> evaluate today! http://www.installshield.com/Dev2Dev/0504
> _______________________________________________
> Playerstage-gazebo mailing list
> Playerstage-gazebo@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>